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Correct the binding for BinaryMeasurement

release/4.3a0
Fan Jiang 2022-05-03 16:24:09 -04:00
parent 21b8365d7b
commit 28b216b72f
4 changed files with 10 additions and 1 deletions
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1
gtsam/slam/dataset.h
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@ -223,6 +223,7 @@ parse3DFactors(const std::string &filename,
size_t maxIndex = 0); size_t maxIndex = 0);
using BinaryMeasurementsUnit3 = std::vector<BinaryMeasurement<Unit3>>; using BinaryMeasurementsUnit3 = std::vector<BinaryMeasurement<Unit3>>;
using BinaryMeasurementsRot3 = std::vector<BinaryMeasurement<Rot3>>;
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
inline boost::optional<IndexedPose> GTSAM_DEPRECATED inline boost::optional<IndexedPose> GTSAM_DEPRECATED

2
python/CMakeLists.txt
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@ -48,6 +48,7 @@ set(ignore
gtsam::Rot3Vector gtsam::Rot3Vector
gtsam::KeyVector gtsam::KeyVector
gtsam::BinaryMeasurementsUnit3 gtsam::BinaryMeasurementsUnit3
gtsam::BinaryMeasurementsRot3
gtsam::DiscreteKey gtsam::DiscreteKey
gtsam::KeyPairDoubleMap) gtsam::KeyPairDoubleMap)
@ -137,6 +138,7 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
gtsam::KeyVector gtsam::KeyVector
gtsam::FixedLagSmootherKeyTimestampMapValue gtsam::FixedLagSmootherKeyTimestampMapValue
gtsam::BinaryMeasurementsUnit3 gtsam::BinaryMeasurementsUnit3
gtsam::BinaryMeasurementsRot3
gtsam::CameraSetCal3_S2 gtsam::CameraSetCal3_S2
gtsam::CameraSetCal3Bundler gtsam::CameraSetCal3Bundler
gtsam::CameraSetCal3Unified gtsam::CameraSetCal3Unified

6
python/gtsam/preamble/sfm.h
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@ -18,4 +18,8 @@ PYBIND11_MAKE_OPAQUE(
std::vector<gtsam::SfmTrack>); std::vector<gtsam::SfmTrack>);
PYBIND11_MAKE_OPAQUE( PYBIND11_MAKE_OPAQUE(
std::vector<gtsam::SfmCamera>); std::vector<gtsam::SfmCamera>);
PYBIND11_MAKE_OPAQUE(
std::vector<gtsam::BinaryMeasurement<gtsam::Unit3>>);
PYBIND11_MAKE_OPAQUE(
std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>);

2
python/gtsam/specializations/sfm.h
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@ -13,6 +13,8 @@
py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >( py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(
m_, "BinaryMeasurementsUnit3"); m_, "BinaryMeasurementsUnit3");
py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Rot3> > >(
m_, "BinaryMeasurementsRot3");
py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap"); py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
py::bind_vector< py::bind_vector<